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Abstract: This paper discusses the means used to improve the consistency and robustness of the simultaneous localization and map building process from laser range readings. The approach is based on the logical sensor concept: the 2D laser scanner data are used not only to provide the robot with points from which the features are extracted, but also to estimate the vehicle motion, and to filter out artifacts resulting from dynamic obstacles. (Update)
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BibTeX entry: (Update)
@misc{ skrzypczynski-laserbased,
author = "Piotr Skrzypczynski",
title = "Laser-Based Logical Sensors for Improved Mapping and Localization",
url = "citeseer.ist.psu.edu/762324.html" }
Citations (may not include all citations):2133 Pattern Classification and Scene Analysis (context) - Duda, Hart - 1973
144 Globally Consistent Range Scan Alignment for Environment Map.. - Lu, Milios - 1997
99 Estimating Uncertain Spatial Relationships in Robotics (context) - Smith, Self et al. - 1990
67 A Solution to the Simultaneous Localization and Map Building.. (context) - Dissanayake, Newman et al. - 2001
44 The SPmap: A Probabilistic Framework for Simultaneous Locali.. - Castellanos, Montiel et al. - 1999
44 Robotic Mapping: A Survey - Thrun - 2002
12 Gyrodometry: A New Method for Combining Data from Gyros and .. - Borenstein, Feng - 1996
10 Accurate Odometry and Error Modelling for a Mobile Robot - Chong, Kleeman - 1997
10 Fuzzy Maps: A New Tool for Mobile Robot Perception and Plann.. - Oriolo, Ulivi et al. - 1997
9 Weighted Range Sensor Matching Algorithms for Mobile Robot D.. - Pfister, Kriechbaum et al. - 2002
2 Uncertainty of Line Segments Extracted from Static SICK PLS .. - Diosi, Kleeman - 2003
2 Multi-Agent Blackboard Architecture for a Mobile Robot (context) - Brzykcy, Martinek et al. - 2001
1 A Comparison of Methods for Line Extraction from Range Data (context) - Sack, Burgard - 2004
1 Open Challenges in SLAM: An Optimal Solution Based on Shift .. (context) - Martinelli, Tomatis et al. - 2004
1 Merging Probabilistic and Fuzzy Frameworks for Uncertain Spa.. (context) - nski - 2005
1 2D and 3D World Modelling Using Optical Scanner Data (context) - nski - 1997
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